CN212812853U - Self-walking pepper picking robot - Google Patents

Abstract

The utility model discloses a self-walking pepper picking robot, which comprises an installation chassis, a walking system, a drying and screening system and a manipulator picking support system, wherein the walking system is respectively arranged on two sides of the bottom of the installation chassis, and the manipulator picking support system and a control cabinet are arranged on the installation chassis; the manipulator picking support system consists of a manipulator B and a pepper picker, and a negative pressure collector is arranged on the mounting chassis; the drying and screening system comprises a drying and screening box, wherein a conveying device, a vibration impurity removing device and a material receiving basket are installed in the drying and screening box, a vibration sieve plate and a blower are arranged in the vibration impurity removing device, the vibration sieve plate divides the interior of the vibration impurity removing device into an upper-layer screening space and a lower-layer screening space, and the upper-layer screening space corresponds to the material receiving basket. The utility model discloses an operation is picked to mechanized prickly ash, accessible stoving screening system obtain clean, dry prickly ash fruit transportation store in connecing the charging basket, have reduced intensity of labour, have improved and have picked efficiency.

Description

Self-walking pepper picking robot

Technical Field

The utility model relates to a chinese prickly ash picks technical field, especially relates to a self-propelled chinese prickly ash picking robot.

Background

The pepper is the most important seasoning food material in daily life, and the pepper tree is full of thorns, which brings troubles to pepper picking. At present, the Chinese prickly ash is picked basically manually, namely, the Chinese prickly ash is picked manually by an instrument or bare-handed people near the Chinese prickly ash, often damaged by thorns on the Chinese prickly ash, is very difficult to pick, has low manual picking efficiency and high labor intensity, and seriously restricts the development of the Chinese prickly ash industry. Although picking modes such as high branch shearing, mechanical vibration and the like exist, the defects of damaging pepper branches and trunks exist, the problem that part of regions are difficult to pick also exists, or the problems that the pepper is troublesome to collect after picking and the like exist, the prior art has defects of different degrees, and the picking effect is not ideal.

In recent years, agricultural picking robots have been developed and applied as a robot for performing work in a specific environment; in the aspect of research of agricultural robot technology, the pepper picking is only performed by some manual auxiliary picking machines at present, and the pepper picking robot is still blank. When the peppers are picked, if excessive pepper leaves and branches are cut off, the harvest of the peppers in the next year can be influenced, so that the current pepper picking is basically manual picking or picking is carried out by adopting a manual auxiliary picking machine, the manual auxiliary picking machine on the market has two types of electric picking and manual picking, and the electric pepper picking machine mainly drives a cutting edge to vibrate through a motor to cut off pepper twigs for picking. Although the traditional Chinese prickly ash picker reduces the labor intensity of manual picking to a certain extent, a large amount of manual participation is still required per se. Because the fruits of the pepper are scattered, the picking requirement is high (excessive branches and leaves cannot be picked), and the picking difficulty is high, a full-automatic pepper picking machine is not available at present.

Although the total yield and area of the zanthoxylum bungeanum is increasing, the zanthoxylum bungeanum is limited by geographical, traffic and technical conditions, and the zanthoxylum bungeanum picking mainly depends on manpower, so that the labor intensity is high, the efficiency is low, the labor force is increasingly in shortage, and the mechanical picking technology is immature, so that the picking cost is over high in the production cost of the zanthoxylum bungeanum, and the continuous, efficient and healthy development of the zanthoxylum bungeanum industry is difficult to guarantee. Therefore, the development of the self-walking intelligent pepper picking robot plays a vital role in the development of the pepper industry in China.

SUMMERY OF THE UTILITY MODEL

Weak point to prior art exists, the utility model aims to provide a from walking prickly ash picking robot, walk to near waiting to pick the prickly ash tree through traveling system, manipulator anchor clamps supporting system lifts anchor clamps and removes to waiting to pick near branch or the branch department of prickly ash cluster through manipulator A, anchor clamps will wait to pick near branch or the branch centre gripping of prickly ash cluster and fix, then pick supporting system through the manipulator and lift prickly ash picker and remove to waiting to pick near prickly ash cluster, prickly ash picker treats to pick the prickly ash and picks the processing, prickly ash after picking is carried to drying and screening system in through prickly ash negative pressure collecting pipe negative pressure, drying and screening system dries the dehumidification to the prickly ash fruit, processing such as edulcoration, obtain clean, dry prickly ash fruit transportation is stored in the receiving basket.

The purpose of the utility model is realized through the following technical scheme:

a self-walking pepper picking robot comprises an installation chassis, walking systems and a manipulator picking support system, wherein the walking systems are respectively installed on two sides of the bottom of the installation chassis, and the manipulator picking support system and a control cabinet are installed on the installation chassis; the manipulator picking support system consists of a manipulator B and a pepper picker arranged at the top end of the manipulator B in a matching way, a negative pressure collector is arranged on the mounting base plate, and the negative pressure collector and the pepper picker are hermetically connected through a pepper negative pressure collecting pipe; the control cabinet is respectively connected with the manipulator B, the pepper picker, the negative pressure collector and the traveling system.

In order to realize better the utility model discloses, still install manipulator anchor clamps supporting system on the installation chassis, manipulator anchor clamps supporting system comprises manipulator A and the anchor clamps of cooperation installation in manipulator A top, manipulator A is connected with the switch board.

Preferably, the bottom of the installation chassis is provided with a chassis frame, and the two walking systems are respectively connected to two sides of the chassis frame; and a drying and screening system is arranged on the chassis frame and is correspondingly connected with the negative pressure collector.

Preferably, the pepper picker comprises an outer barrel and an inner barrel rotatably mounted inside the outer barrel, the outer barrel is connected with and mounted with a connecting barrel sleeve, a rotating motor is connected and mounted inside the connecting barrel sleeve through a hollow motor frame, a rotating shaft of the rotating motor is fixedly connected with the inner barrel through a hollow synchronous frame, the rotating motor is connected with a control cabinet, and the rotating motor is used for driving the inner barrel to rotate inside the outer barrel; the picking end of the outer cylinder body is provided with a picking outer tooth assembly, and the picking end of the inner cylinder body is provided with a picking inner tooth assembly corresponding to the picking outer tooth assembly; the pepper negative pressure collecting pipe end is connected with the connecting cylinder sleeve in a sealing mode, and the connecting cylinder sleeve is connected with the end of the manipulator B through the connecting rod B.

Preferably, the picking outer tooth assembly of the outer cylinder body comprises a plurality of picking outer teeth, a picking outer tooth gap space is formed between every two adjacent picking outer teeth, and all the picking outer teeth are arranged along the top of the outer cylinder body in a circle; the picking internal tooth assembly of the inner cylinder body comprises a plurality of picking internal teeth, a picking internal tooth clearance space is arranged between every two adjacent picking internal teeth, and all the picking internal teeth are arranged along the circle at the top of the inner cylinder body.

Preferably, the picking inner teeth of the inner cylinder body are obliquely arranged, and the picking outer teeth of the outer cylinder body are vertically or obliquely arranged; the utility model discloses a barrel, including outer barrel, connecting portion, connecting sleeve cover, outer barrel lateral part is opened there is the bar breach, outer barrel outside is equipped with adjustable hoop, outer barrel bottom has connecting portion, outer barrel passes through connecting portion and is connected with the connecting sleeve cover top is detachable.

Preferably, the traveling system comprises a traveling driving motor, a driving wheel and a traveling crawler, the traveling driving motor is in power connection with the driving wheel, the traveling driving motor is fixed on the installation chassis or the chassis frame, the traveling system is provided with driven wheels on two sides of the driving wheel respectively, the traveling crawler of the traveling system is in power fit with the two driven wheels and the driving wheel, and the traveling driving motor is connected with the control cabinet.

As preferred, stoving screening system is including stoving screening case, install conveyer, vibration edulcoration device and connect the material basket in the stoving screening case, conveyer's feed end is equipped with the feeder hopper corresponding with negative pressure collector, conveyer's discharge end is corresponding with the feed end of vibration edulcoration device, inside vibration sieve and the hair-dryer of having of vibration edulcoration device, vibration sieve separates into upper screening space and lower floor screening space with vibration edulcoration device internal partitioning, upper screening space with connect the material basket corresponding, the hair-dryer is located in the screening space of lower floor, conveyer, vibration edulcoration device are connected with the switch board respectively.

Preferably, the vibration impurity removing device is provided with a movable door corresponding to the lower screening space; the conveying device comprises a plurality of layers of conveying belts, all the layers of conveying belts are sequentially arranged from top to bottom, and a blanking hopper is correspondingly arranged between two adjacent upper layers of conveying belts; the inside microwave heating pipe that corresponds with conveyer that is equipped with of stoving screening incasement portion, stoving screening bottom of the case portion is equipped with the exhaust fan, stoving screening bottom of the case portion has still opened the exhaust hole corresponding with the exhaust fan, microwave heating pipe, exhaust fan are connected with the switch board respectively.

Preferably, the fixture comprises a fixture seat, the fixture seat is connected with the manipulator A through a connecting rod A, scissor type connecting rod frames are arranged on the two sides of the fixture seat respectively, arc-shaped clamping plates are arranged at the end parts of the two scissor type connecting rod frames in a matched mode, a panoramic camera and a binocular camera A are arranged on the installation chassis, a binocular camera B is arranged at the end part of the manipulator B, the panoramic camera, the binocular camera A and the binocular camera B are connected with the control cabinet respectively, and a communication module is arranged inside the control cabinet.

As preferred, first layer screening board, second floor screening board are installed to the slant in proper order from last to down to vibration edulcoration device's vibration sieve subassembly, be equipped with a plurality of screening hole A on the first layer screening board, be equipped with a plurality of screening on the second floor screening board, first layer screening board, second floor screening board separate into first screening space, second screening space, third screening space with vibration edulcoration device inner space, the second screening space with connect the material basket corresponding.

Compared with the prior art, the utility model, have following advantage and beneficial effect:

(1) the utility model discloses a traveling system walks to near waiting to pick the prickly ash tree, manipulator anchor clamps supporting system lifts anchor clamps through manipulator A and removes to waiting to pick near branch or the branch department of prickly ash cluster, anchor clamps will wait to pick near branch or the branch centre gripping of prickly ash cluster and fix, then pick supporting system through the manipulator and lift the prickly ash picker and remove to waiting to pick near prickly ash cluster, prickly ash picker treats to pick the prickly ash and picks the processing, prickly ash after picking is carried to drying and screening system in through prickly ash negative pressure collecting pipe negative pressure, drying and screening system dries the dehumidification to the prickly ash fruit, processing such as edulcoration, it is clean to obtain, dry prickly ash fruit transportation is stored in the basket that connects materials.

(2) The utility model discloses a negative pressure collection mode is collected the prickly ash that the ware was picked to prickly ash, then carries through prickly ash negative pressure collecting pipe, can prevent effectively that prickly ash oil cell from breaking or damaging the prickly ash quality, has improved prickly ash fruit picking efficiency and has picked back prickly ash fruit quality.

(3) The utility model discloses a stoving screening system dries the dehumidification, gets rid of processing such as impurity to the prickly ash fruit, can directly obtain dry prickly ash finished product, is favorable to the transportation and the storage of prickly ash fruit.

(4) The utility model discloses need not artifical the participation almost, reduced the intensity of labour who picks the workman, improved prickly ash and picked efficiency.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a schematic view of the structure of the clamp;

FIG. 4 is a schematic structural view of a prickly ash picker;

FIG. 5 is a schematic view of the internal structure of the prickly ash picker;

FIG. 6 is a schematic view of the internal structure of the drying and screening system;

fig. 7 is a schematic structural view in a top view of fig. 6.

Wherein, the names corresponding to the reference numbers in the drawings are:

1-mounting chassis, 2-control cabinet, 3-traveling system, 31-driving wheel, 32-driven wheel, 33-traveling crawler, 4-panoramic camera, 5-drying screening system, 51-feeding hopper, 52-conveying device, 521-conveying belt, 522-discharging hopper, 53-vibration impurity removing device, 531-movable door, 54-receiving basket, 55-microwave heating pipe, 56-exhaust fan, 6-negative pressure collector, 7-pepper negative pressure collecting pipe, 8-clamp, 81-clamp seat, 82-scissor type connecting rod frame, 83-arc clamping plate, 84-connecting rod A, 9-manipulator B, 10-manipulator A, 11-binocular camera A, 12-binocular camera B, 13-pepper picker, 131-outer cylinder, 1311-picking outer tooth, bar-notch, 132-inner cylinder, 1321-picking inner tooth, 133-connecting cylinder sleeve, 134-connecting rod B, 135-rotating motor, 136-hollow out motor frame.

Detailed Description

The present invention will be described in further detail with reference to the following examples:

examples

As shown in fig. 1-7, the self-walking pepper picking robot comprises an installation chassis 1, a walking system 3 and a manipulator picking support system, wherein the walking system 3 is respectively installed on two sides of the bottom of the installation chassis 1, and the manipulator picking support system and a control cabinet 2 are installed on the installation chassis 1. The manipulator picking support system consists of a manipulator B9 and a pepper picker 13 which is arranged at the top end of the manipulator B9 in a matching way, a negative pressure collector 6 is arranged on the mounting base plate 1, and the negative pressure collector 6 is hermetically connected with the pepper picker 13 through a pepper negative pressure collecting pipe 7. The pepper picker 13 is used for collecting peppers from pepper trees, the negative pressure collector 6 generates negative pressure and collects the peppers through the pepper negative pressure collecting pipe 7. The control cabinet 2 is respectively connected with the manipulator B9, the pepper picker 13, the negative pressure collector 6 and the traveling system 3.

As shown in fig. 1 and 2, the utility model discloses still install manipulator anchor clamps supporting system on installation chassis 1, manipulator anchor clamps supporting system comprises manipulator A10 and cooperation installation in the anchor clamps 8 on manipulator A10 top, and manipulator A10 is connected with switch board 2. The mounting chassis 1 is provided with a panoramic camera 4 and a binocular camera A11, the end part of the manipulator B9 is provided with a binocular camera B12, and the panoramic camera 4, the binocular camera A11 and the binocular camera B12 are respectively connected with the control cabinet 2. A power supply or a generator is arranged in the control cabinet 2, or the power supply or the generator connected with the control cabinet 2 is arranged on the mounting chassis 1. The mounting chassis 1 adopts a hydraulic crawler type all-terrain traveling mechanism as an operation chassis of the picking robot, provides a power source for the robot and simultaneously serves as a bearing foundation of each functional component; the installation chassis 1 adopts remote control, and the actuating system adopts hydraulic drive, can pivot turn to, can carry on power or generator as the power source.

As shown in fig. 3, the clamp 8 includes a clamp seat 81, the clamp seat 81 is connected to the manipulator a10 through a connecting rod a84, two scissor type link brackets 82 are respectively disposed on two sides of the clamp seat 81, and arc-shaped clamping plates 83 are disposed at ends of the two scissor type link brackets 82 in a matching manner. The clamp 8 of the utility model clamps the thick branch on the pepper tree or the branch near the pepper fruit through two arc-shaped clamping plates 83 (an arc-shaped branch clamping space is formed between the two arc-shaped clamping plates 83), the manipulator clamp support system drives the clamp 8 to move close to the thick branch, the two arc-shaped clamping plates 83 can be positioned on two sides of the thick branch to move, finally the arc-shaped branch clamping space of the clamp 8 is matched with the thick branch, and as the two sides of the clamp 8 are respectively provided with the scissor type connecting rod frame 82, under the self-adaptive action of the scissor type connecting rod frame 82 on the two sides, the two arc-shaped clamping plates 83 can move on the two sides of the thick branch in a self-adaptive manner, when the thick branches are encircled by the two arc-shaped clamping plates 83, the thick branches are limited and positioned in the arc-shaped branch clamping space of the clamp 8, the limiting support is realized to support the thick branches beside the pepper fruits, so that the pepper picker 13 can pick pepper conveniently. The utility model discloses of course the actuating lever that can be equipped with drive scissors formula connecting rod frame 82 concertina movement on anchor clamps 8, this actuating lever cooperation sets up in manipulator anchor clamps supporting system to manipulator anchor clamps supporting system is controlled in the lump, and manipulator anchor clamps supporting system can drive regulation scissors formula connecting rod frame 82 through the actuating lever like this, finally realizes adjusting the purpose of the arc branch centre gripping space size between two arc splint 83.

The utility model discloses a ware 13 is picked to prickly ash includes outer barrel 131 and rotates and install in the inside interior barrel 132 of outer barrel 131, and outer barrel 131 is connected and is installed connection barrel casing 133, connects barrel casing 133 inside and connects through hollow out motor frame 136 and install rotating electrical machines 135, and the pivot of rotating electrical machines 135 is passed through the fretwork synchronous frame and is connected fixedly with interior barrel 132, and rotating electrical machines 135 is connected with switch board 2, and barrel 132 rotates outside barrel 131 inside in the rotating electrical machines 135 is used for driving. The picking end of the outer cylinder 131 has picking outer teeth assemblies and the picking end of the inner cylinder 132 has picking inner teeth assemblies corresponding to the picking outer teeth assemblies. The end part of the pepper negative pressure collecting pipe 7 is hermetically connected with a connecting cylinder sleeve 133, and the connecting cylinder sleeve 133 is connected with the end part of a manipulator B9 through a connecting rod B134. The pepper picker 13 of the utility model simulates the manual picking form and picks by adopting the matching mode of two mechanical arms; the front end of one mechanical arm is fixedly provided with a clamp for clamping and fixing the thick branches of the peppers, the front end of the other mechanical arm is fixedly provided with a spiral comb-tooth type picker (namely a pepper picker 13), and the purpose of picking the peppers is achieved through the mutual rotating fit of the two cylinders of the pepper picker 13. According to the size of the pricklyash cluster stems, selecting and cutting the pricklyash cluster stems by adopting comb teeth with proper size.

As shown in fig. 4 and 5, the picking external teeth assembly of the outer cylinder 131 includes a plurality of picking external teeth 1311, a picking external teeth clearance space is formed between two adjacent picking external teeth 1311, and all picking external teeth 1311 are arranged along the top of the outer cylinder 131. The inner picking tooth assembly of the inner cylinder 132 includes a plurality of inner picking teeth 1321, a inner picking tooth clearance space is provided between two adjacent inner picking teeth 1321, and all inner picking teeth 1321 are arranged along the top of the inner cylinder 132 by a circle. The utility model discloses a picking internal tooth 1321 of interior barrel 132 is the slant and arranges, and outer barrel 131 of the outer barrel 131 of outer picking external tooth is vertical or the slant arranges. The picking outer teeth of the outer cylinder body 131 and the picking inner teeth of the inner cylinder body 132 are matched with each other and cut off the roots or small branches of the peppers placed in the outer cylinder body, and the obtained peppers fall into the pepper negative pressure collecting pipe 7.

As shown in fig. 5, a bar-shaped gap 1312 is formed in the side of the outer cylinder 131, an adjustable binding band is arranged outside the outer cylinder 131, the size of the bar-shaped gap 1312 in the side of the outer cylinder 131 can be adjusted through the adjustable binding band, and even the outer cylinder 131 is overlapped at the position of the bar-shaped gap 1312, so that the diameter of the outer cylinder 131 can be adjusted, and the mutual relationship between the picking outer teeth and the picking inner teeth can be finely adjusted. The bottom of the outer cylinder 131 is provided with a connecting part, and the outer cylinder 131 is detachably connected with the top of the connecting cylinder sleeve 133 through the connecting part. The connecting portion of outer barrel 131 is connected with connecting barrel sleeve 133 top threaded connection, and the connecting portion of outer barrel 131 is the screw thread barrel, and the nozzle department at outer barrel 131 top is opened there is the internal thread, can realize the connecting portion of outer barrel 131 and the purpose of connecting barrel sleeve 133 top threaded connection.

As shown in fig. 2, 6 and 7, the drying and screening system 5 includes a drying and screening box, a conveying device 52, a vibration impurity removing device 53 and a material receiving basket 54 are installed in the drying and screening box, a feeding hopper 51 corresponding to the negative pressure collector 6 is arranged at a feeding end of the conveying device 52, a discharging end of the conveying device 52 corresponds to a feeding end of the vibration impurity removing device 53, a vibration sieve plate and a blower are arranged inside the vibration impurity removing device 53, the vibration sieve plate divides the vibration impurity removing device 53 into an upper screening space and a lower screening space, the upper screening space corresponds to the material receiving basket 54, and the blower is arranged in the lower screening space. The control cabinet 2 is respectively connected with the manipulator B9, the pepper picker 13, the negative pressure collector 6, the walking system 3, the conveying device 52 and the vibration impurity removing device 53. First layer screening board, second floor screening board are installed to the slant in proper order from last to down to vibration edulcoration device 53's vibration sieve subassembly, are equipped with a plurality of screening hole A on the first layer screening board, are equipped with a plurality of screening on the second floor screening board, and first layer screening board, second floor screening board separate into first screening space, second screening space, third screening space with vibration edulcoration device 53 inner space, and the second screening space is corresponding with connecing material basket 54. As shown in fig. 2 and 6, the vibration cleaning device 53 has a movable door 531, and the movable door 531 can be opened to facilitate cleaning work during vibration cleaning work. The conveying device 52 comprises a plurality of layers of conveying belts 521, all the layers of conveying belts 521 are sequentially arranged from top to bottom, and a blanking hopper 522 is correspondingly arranged between the adjacent upper layers of conveying belts 521. The drying and screening box is internally provided with a microwave heating pipe 55 corresponding to the conveying device 52, the bottom of the drying and screening box is provided with an exhaust fan 56, the bottom of the drying and screening box is also provided with an exhaust hole corresponding to the exhaust fan 56, and the microwave heating pipe 55 and the exhaust fan 56 are respectively connected with a drying and screening control system. The inside communication module who is connected with picking machine people intelligent control system that is equipped with of switch board 2, so switch board 2 can carry out communication connection through communication module and external control terminal, is convenient for realize realizing remote control through external control terminal.

When the device is used, the peppers collected by the pepper negative pressure collecting pipe 7 (the peppers contain sundries such as small roots, small branches and leaves, hereinafter called pepper mixture for short) form a negative pressure collecting system by the pepper negative pressure collecting pipe 7 and the negative pressure collector 6, the negative pressure collecting system adopts a structure that a motor is provided with a hose, and collected pepper fruits are collected by the negative pressure collecting system along with a picking device, so that pepper oil cells on the surfaces of the pepper fruits are prevented from being broken and the quality of the peppers is prevented from being damaged. The pepper mixture enters the conveyer 52 through the negative pressure collector 6 and the feed hopper 51, the layered transportation operation is carried out through the conveyer 52, the microwave heating pipes 55 at the side part of the conveyer 52 respectively and correspondingly carry out heating and dehumidifying treatment on the pepper mixture on the layered conveyer belt 521, simultaneously, the microwave heating of the microwave heating pipes 55 is beneficial to drying and curling the small branches and leaves in the pepper mixture, and drying the pepper fruits, thereby being beneficial to preventing the pepper fruits from adhering to or being mixed with wet small branches and leaves, accelerating the separation between the pepper fruits and the small roots and leaves, because the layered microwave heating transmission is adopted, the pepper fruits can be orderly separated from the small roots and leaves, and being more beneficial to the separation between the pepper fruits and the small roots and leaves, and the water vapor released by the layered microwave heating pipes 55 can be discharged from the bottom of the drying and screening box under the drainage action of the exhaust fan 56, the air flow effect of the exhaust fan 56 can accelerate the dehumidification efficiency of the pepper fruits. The prickly ash fruits, dried curled small branches and leaves, dried small roots and stems or other sundries after being dehumidified and dried are conveyed to the vibration impurity removal device 53 through the conveying device 52, when the vibration impurity removal device 53 is used, the movable door 531 needs to be opened to facilitate the discharge of the sundries except the prickly ash fruits, the prickly ash fruits after being dehumidified and dried can fall into the material receiving basket 54, the dried curled small branches and leaves, dried small roots and stems or other sundries can be discharged under the operation of the blower, and therefore the prickly ash fruits collected in the material receiving basket 54 are clean, dried and dehumidified pricklyash fruits, and the transportation and storage of the pricklyash fruits are facilitated. The prickly ash gathers the back and passes through multirow stoving conveyer belt, and one row of microwave heating pipe is installed to stoving screening case dorsal part, dries the prickly ash of collecting, and one row of air discharge fan is equipped with to the collecting box bottom, and air cycle accelerates when drying dehumidifies the prickly ash. After being dried, the dried pepper enters a vibration impurity removal device 53 through a conveyor belt, and impurities such as pepper and twigs are separated through vibration, so that a dried pepper finished product is obtained.

The utility model discloses an installation chassis 1 bottom has the chassis underframe, and two traveling system 3 connect respectively in the chassis underframe both sides, and stoving screening system 5 locates on the chassis underframe. The utility model discloses 2 inside powers or generators that are equipped with of switch board, certainly power or generator can also set up on installation chassis 1 or install on the chassis underframe of installation chassis 1. Be equipped with panoramic camera 4 on installation chassis 1, binocular camera A11, manipulator B9 tip is equipped with binocular camera B12, panoramic camera 4, binocular camera A11, binocular camera B12 are connected with switch board 2 respectively, the inside communication module that is equipped with of switch board 2, so switch board 2 can carry out communication connection through communication module and external control terminal, be convenient for realize through external control terminal that remote control is realized. The utility model discloses a traveling system 3 includes walking driving motor, drive wheel 31 and walking track 33, and walking driving motor is connected with drive wheel 31 power, and walking driving motor is fixed in on installation chassis 1 or the chassis underframe, and traveling system 3 is equipped with respectively from driving wheel 32 lieing in drive wheel 31 both sides, and traveling system 3's walking track 33 power fit is installed in two from driving wheel 32, a drive wheel 31, and walking driving motor is connected with switch board 2.

The utility model discloses a traveling system 3 walks to near waiting to pick the prickly ash tree, manipulator anchor clamps supporting system lifts anchor clamps 8 through manipulator A10 and removes to waiting to pick branch or branch department near prickly ash cluster, will wait to pick branch or branch centre gripping near prickly ash cluster through anchor clamps 8 and fix, then pick supporting system through the manipulator and lift prickly ash picker 13 and remove to waiting to pick near prickly ash cluster, treat through prickly ash picker 13 and pick the processing to picking the prickly ash, prickly ash after picking is carried to drying and screening system 5 through prickly ash negative pressure collecting pipe 7 negative pressure, drying and screening system 5 dries the dehumidification to the prickly ash fruit, processing such as edulcoration, it is clean to obtain, dry prickly ash fruit transportation is stored in receiving basket 54.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a from prickly ash picking robot that walks which characterized in that: the mechanical arm picking and supporting device comprises an installation chassis (1), traveling systems (3) and a mechanical arm picking and supporting system, wherein the traveling systems (3) are respectively installed on two sides of the bottom of the installation chassis (1), and the mechanical arm picking and supporting system and a control cabinet (2) are installed on the installation chassis (1); the manipulator picking support system consists of a manipulator B (9) and a pepper picker (13) which is arranged at the top end of the manipulator B (9) in a matching way, a negative pressure collector (6) is arranged on the mounting base plate (1), and the negative pressure collector (6) is hermetically connected with the pepper picker (13) through a pepper negative pressure collecting pipe (7); the control cabinet (2) is respectively connected with the manipulator B (9), the pepper picker (13), the negative pressure collector (6) and the walking system (3).

2. The self-walking pepper picking robot according to claim 1, characterized in that: the manipulator clamp supporting system is further mounted on the mounting base plate (1), the manipulator clamp supporting system is composed of a manipulator A (10) and a clamp (8) mounted on the top end of the manipulator A (10) in a matched mode, and the manipulator A (10) is connected with the control cabinet (2).

3. The self-walking pepper picking robot according to claim 1, characterized in that: the bottom of the mounting chassis (1) is provided with a chassis frame, and the two traveling systems (3) are respectively connected to two sides of the chassis frame; and a drying and screening system (5) is arranged on the chassis frame, and the drying and screening system (5) is correspondingly connected with the negative pressure collector (6).

4. The self-walking pepper picking robot according to claim 1, characterized in that: the pepper picker (13) comprises an outer barrel body (131) and an inner barrel body (132) rotatably mounted in the outer barrel body (131), the outer barrel body (131) is connected with and provided with a connecting barrel sleeve (133), the inside of the connecting barrel sleeve (133) is connected with and provided with a rotating motor (135) through a hollow motor frame (136), a rotating shaft of the rotating motor (135) is fixedly connected with the inner barrel body (132) through a hollow synchronous frame, and the rotating motor (135) is connected with the control cabinet (2); the picking end of the outer cylinder body (131) is provided with an outer picking tooth component, and the picking end of the inner cylinder body (132) is provided with an inner picking tooth component corresponding to the outer picking tooth component; the device is characterized in that the end part of the pepper negative pressure collecting pipe (7) is hermetically connected with a connecting cylinder sleeve (133), and the connecting cylinder sleeve (133) is connected with the end part of a manipulator B (9) through a connecting rod B (134).

5. The self-walking pepper picking robot according to claim 4, characterized in that: the picking outer tooth assembly of the outer cylinder body (131) comprises a plurality of picking outer teeth (1311), a picking outer tooth clearance space is formed between every two adjacent picking outer teeth (1311), and all the picking outer teeth (1311) are arranged along the top of the outer cylinder body (131) in a circle; the picking internal teeth assembly of the inner cylinder body (132) comprises a plurality of picking internal teeth (1321), a picking internal teeth gap space is arranged between every two adjacent picking internal teeth (1321), and all the picking internal teeth (1321) are arranged along the top of the inner cylinder body (132) in a circle.

6. The self-walking pepper picking robot according to claim 5, characterized in that: the picking internal teeth (1321) of the inner cylinder body (132) are obliquely arranged, and the picking external teeth outer cylinder body (131) of the outer cylinder body (131) is vertically or obliquely arranged; the side of the outer cylinder body (131) is provided with a strip-shaped gap (1312), the outer part of the outer cylinder body (131) is provided with an adjustable binding hoop, the bottom of the outer cylinder body (131) is provided with a connecting part, and the outer cylinder body (131) is detachably connected with the top of the connecting cylinder sleeve (133) through the connecting part.

7. The self-walking pepper picking robot according to claim 3, characterized in that: traveling system (3) are including walking driving motor, drive wheel (31) and walking track (33), walking driving motor and drive wheel (31) power are connected, traveling system (3) are located drive wheel (31) both sides and are equipped with respectively from driving wheel (32), walking track (33) power fit of traveling system (3) is installed on two follow driving wheels (32), a drive wheel (31), walking driving motor is connected with switch board (2).

8. The self-walking pepper picking robot according to claim 3, characterized in that: drying and screening system (5) are including drying and screening case, install conveyer (52), vibration edulcoration device (53) and connect material basket (54) in the drying and screening case, the feed end of conveyer (52) is equipped with feeder hopper (51) corresponding with negative pressure collector (6), the discharge end of conveyer (52) is corresponding with the feed end of vibration edulcoration device (53), vibration edulcoration device (53) inside has vibration sieve board and hair-dryer, vibration sieve board separates vibration edulcoration device (53) inside into upper strata screening space and lower floor screening space, upper strata screening space with connect material basket (54) corresponding, the hair-dryer is located in lower floor screening space, conveyer (52), vibration edulcoration device (53) are connected with switch board (2) respectively.

9. The self-walking pepper picking robot according to claim 8, characterized in that: the vibration impurity removing device (53) is provided with a movable door (531) corresponding to the lower screening space; the conveying device (52) comprises a plurality of layers of conveying belts (521), all the layers of conveying belts (521) are sequentially arranged from top to bottom, and a discharging hopper (522) is correspondingly arranged between two adjacent layers of conveying belts (521) on the upper layer; stoving screening incasement portion is equipped with microwave heating pipe (55) corresponding with conveyer (52), stoving screening bottom of the case portion is equipped with exhaust fan (56), stoving screening bottom of the case portion has still opened the exhaust hole corresponding with exhaust fan (56), microwave heating pipe (55), exhaust fan (56) are connected with switch board (2) respectively.

10. The self-walking pepper picking robot according to claim 2, characterized in that: the clamp (8) comprises a clamp seat (81), the clamp seat (81) is connected with the manipulator A (10) through a connecting rod A (84), two sides of the clamp seat (81) are respectively provided with a scissor type connecting rod frame (82), and the end parts of the two scissor type connecting rod frames (82) are provided with arc-shaped clamping plates (83) in a matching way; be equipped with panorama camera (4), binocular camera A (11) on installation chassis (1), manipulator B (9) tip is equipped with binocular camera B (12), panorama camera (4), binocular camera A (11), binocular camera B (12) are connected with switch board (2) respectively, switch board (2) inside is equipped with communication module.

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